EP1388238B1 - System and method for the parallel transmission of real-time critical and non real-time critical data via switched data networks, especially ethernet - Google Patents
System and method for the parallel transmission of real-time critical and non real-time critical data via switched data networks, especially ethernet Download PDFInfo
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- EP1388238B1 EP1388238B1 EP01997926A EP01997926A EP1388238B1 EP 1388238 B1 EP1388238 B1 EP 1388238B1 EP 01997926 A EP01997926 A EP 01997926A EP 01997926 A EP01997926 A EP 01997926A EP 1388238 B1 EP1388238 B1 EP 1388238B1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/64—Hybrid switching systems
- H04L12/6418—Hybrid transport
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/64—Hybrid switching systems
- H04L12/6418—Hybrid transport
- H04L2012/6445—Admission control
- H04L2012/6448—Medium Access Control [MAC]
- H04L2012/6454—Random, e.g. Ethernet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/64—Hybrid switching systems
- H04L12/6418—Hybrid transport
- H04L2012/6445—Admission control
- H04L2012/6462—Movable boundaries in packets or frames
Definitions
- the invention relates to a system and method for the parallel transmission of real-time critical and non real-time critical data via switchable data networks, in particular Ethernet.
- Data networks allow communication between several participants through networking, ie connection of the individual participants with each other.
- Communication means the transmission of data between the participants.
- the data to be transmitted are sent as data telegrams, ie, the data is packed into several packets and sent in this form over the data network to the appropriate recipient. This is why we also speak of data packets.
- the term transmission of data is used in this document completely synonymous with the above-mentioned transmission of data telegrams or data packets.
- the networking itself is achieved, for example, in switchable high-performance data networks, in particular Ethernet, in that at least one coupling unit is connected between two subscribers, which is connected to both subscribers. Each coupling unit can be connected to more than two participants.
- the coupling unit can also be connected only to another coupling unit or to another subscriber, ie to represent a terminal.
- Each participant is connected to at least one coupling unit but not directly to another participant.
- Participants are, for example, computers, programmable logic controllers (PLCs) or other machines that exchange electronic data with other machines, in particular process.
- PLCs programmable logic controllers
- a channel access method for radio networks is known, which allow a quasi simultaneous voice and data transmission. It takes into account the different requirements, which provide a voice and data transmission to transmission delay and error rate. Speech data is treated as real-time critical data and other data as non-real-time critical.
- the known radio data network is constructed between at least two subscribers, in particular a transmitter and a receiver, wherein the data is stored in at least a transmission cycle with adjustable time duration are transmitted.
- Each transmission cycle is subdivided into at least a first region for transmission of real-time critical data, namely the voice data, and at least a second region for transmission of non-real-time critical data.
- buffering is allowed, while for real-time critical data, it is not allowed because they need to be transmitted in near-real time in a continuous stream. If the channel capacity is busy, however, it may also happen that voice data, for example in the case of a new connection attempt, is blocked and thus lost.
- the object of the invention is to provide a system and a method for the transmission of data via switchable data networks, in particular Ethernet, which allows a mixed operation of real-time critical and non real-time critical, in particular inter- or intranet-based data communication in the same data network.
- This object is achieved by a method for transmitting data via switchable data networks, in particular Ethernet in the field of industrial installations, are transmitted in the real-time critical and non-real-time critical data, the switchable data network between at least two participants, in particular a transmitter and a receiver is constructed wherein the data is transmitted in at least one adjustable-length transmission cycle, each transmission cycle is transmitted in at least a first range for transmission of real-time critical data for real-time control and at least a second area is subdivided for transmission of non-real-time critical data.
- the invention is based on the finding that an open Internet-based communication is spontaneous communication, ie that both the time of such communication and the amount of data that has to be transferred can not be determined beforehand. As a result, collisions on the transmission lines in bus systems or in the coupling units in switchable high-speed networks, in particular Fast Ethernet or Switched Ethernet, can not be ruled out.
- a mixed operation of real-time communication with other spontaneous, non-real-time critical communication, in particular Internet communication is desirable. This is made possible by the fact that the real-time communication, which predominantly occurs cyclically in the application areas considered here and can thus be planned in advance, is not, in contrast, unforeseeable Real-time critical communication, especially open, Internet-based communication is strictly separated.
- each transmission cycle in at least a first range for transmitting real-time critical data for real-time control, such as the designated industrial facilities and at least a second area for transmitting non-real-time critical data, for example, the open, internet capable Communication is divided.
- a particularly advantageous embodiment of the invention is characterized in that each participant is assigned a coupling unit which is provided for transmitting and / or receiving and / or for forwarding the data to be transmitted.
- An extremely advantageous embodiment of the invention is characterized in that all participants and switching units of the switchable data network by time synchronization with each other always have a common synchronous time base. This is a prerequisite for a separation of the plannable real-time communication from the unpredictable, non-real-time critical communication.
- the separation of the plannable real-time communication and the unpredictable, non-real-time critical communication is achieved by applying the time synchronization method according to the non-prepublished application DE 10004425.5 guaranteed.
- a further particularly advantageous embodiment of the invention is characterized in that all non-real-time critical data which is to be transmitted during the intended range of real-time communication range of a transmission cycle, temporarily stored by the respective coupling unit and during the, not real-time critical communication provided this area or a subsequent transmission cycle, ie a non-scheduled Internet communication possibly occurring in the first area of a transmission cycle reserved for real-time communication is shifted to the second area of the transmission cycle reserved for spontaneous, non-real-time critical communication, thereby completely avoiding real-time communication disturbances.
- the corresponding data of the spontaneous, not real-time-critical communication are buffered by the respective coupling unit concerned and after the expiration of the real-time communication area only in the second area of the transmission cycle, which is reserved for the spontaneous, not real-time critical communication.
- This second area i. the entire time period until the end of the transmission cycle is available to all subscribers for unpredictable, non-real-time critical communication, in particular internet communication, likewise without influencing the real-time communication since this is carried out separately in time.
- Collisions with the real-time critical data telegrams in the coupling units can be avoided in that all non-real-time critical data provided during the, for the transmission of non-real-time critical data Range of a transmission cycle can not be transmitted, cached by the respective coupling unit and during the, intended for the transmission of the non-real-time critical data area of a subsequent transmission cycle.
- a further advantageous embodiment of the invention is characterized in that the time duration of the area for the transmission of non-real-time critical data within a transmission cycle is automatically determined by the time duration of the area for the transmission of real-time critical data.
- the time duration of the range for transmitting real-time critical data within a transmission cycle is determined in each case by the connection-specific data to be transmitted, ie, the time duration of the two areas is determined for each individual data connection by the respectively required amount of data to be transmitted real-time critical data whereby the division of the two areas and thus the time available for non-real-time critical communication is optimized for each individual data connection between two coupling units for each transmission cycle.
- a further advantageous embodiment of the invention is characterized in that the time duration of a transmission cycle is determined at least once prior to the respective execution of the data transmission.
- This has the advantage that at each start of a new, planned in advance data transmission, the duration of a transmission cycle to the respective requirements for real-time communication or open, Internet-enabled communication are tuned can.
- the duration of a transmission cycle and / or the duration of the range for transmitting real-time critical data of a transmission cycle can be changed as required, for example at previously scheduled, fixed times and / or after a planned number of transmission cycles, advantageously before the beginning of a transmission cycle by switching to other scheduled, real-time critical transmission cycles.
- the duration of a transmission cycle depending on the application between one microsecond and ten seconds.
- Another highly advantageous embodiment of the invention is characterized in that replanning of the real-time communication can be performed at any time during operation of an automation system, whereby a flexible adaptation of the real-time control is guaranteed at short term changing boundary conditions. As a result, a change in the duration of a transmission cycle is also possible.
- a further advantageous embodiment of the invention is characterized in that a part of the intended for the transmission of real-time critical data range of the transmission cycle for the transmission of data to organize the data transmission is provided. It has proven to be of particular advantage in this case that the data telegrams for the organization of the data transmission are transmitted at the beginning of the area for the transmission of real-time-critical data of the transmission cycle. Data for the organization of the data transmission are, for example, data for the time synchronization of the subscribers and coupling units of the data network, data for the topology recognition of the network, etc.
- a further advantageous embodiment of the invention is characterized in that for all to be transmitted, real-time critical data telegrams transmitting and receiving time all time points for the forwarding of the real-time critical data telegrams and the respective associated links via which the real-time critical data telegrams are forwarded before the start of the respective implementation of data transmission, ie it is in a coupling unit at stations and / or receivers and in each coupling units involved notes when and at which output port a real-time critical data telegram arriving at time X should be sent on.
- Another highly advantageous embodiment of the invention is characterized in that the forwarding times are planned so that each real-time critical data telegram arrives at the latest forwarding time or earlier at the corresponding coupling unit, but it is forwarded in any case until the forwarding time.
- the real-time-critical data telegrams can be transmitted or forwarded directly, without time interval, i. a worse use of bandwidth in real-time data packets is avoided.
- a further advantage of time-based forwarding is that the destination determination in the coupling unit is no longer address-based, because it is clear from the outset which port should be forwarded to.
- the optimal use of all existing links within the switchable data network is possible. Redundant links of the switchable data network, which should not be used for the address-based switching of non-real-time critical communication, because otherwise would be circularities of data packets, but can be considered in advance for the planning of the forwarding lines and thus used for real-time communication.
- This Realization of redundant network topologies, eg rings for fault-tolerant real-time systems, possible. Data packets can be sent redundantly on disjoint paths, circularities of data packets do not occur.
- Another advantage of the forwarded forwarding is that the monitoring of each leg is thus possible without acknowledgment and a fault diagnosis is thus easy to carry out.
- a further, extremely advantageous embodiment of the invention is characterized in that at least one arbitrary subscriber, in particular a subscriber with the ability to open, Internet-capable communication, with or without associated coupling unit, can be added to a switchable data network and it is ensured that critical Data transfers are performed successfully at the desired time, even if the arbitrary participant performs a non real-time critical communication, in particular Internet communication in parallel to a real-time critical communication.
- a further, particularly advantageous embodiment of the invention is characterized in that a coupling unit is integrated into a subscriber. This results in an extraordinary cost advantage over the previously implemented as independent blocks coupling units, also called switches.
- a further advantageous embodiment of the invention is characterized in that a coupling unit has two separate accesses to the respective subscriber, wherein an access for the exchange of real-time critical data and the other access for the exchange of non-real-time critical data is provided.
- This has the advantage that real-time critical and non-real-time critical data are processed separately.
- the access for the non-real-time critical data corresponds to the commercial interface of a regular Ethernet controller, whereby the previously existing software, In particular driver, without restriction is usable.
- FIG. 1 shows a schematic representation of an embodiment of a distributed automation system, wherein for reasons of clarity of presentation as part of the invention in each case the coupling unit is already integrated into the relevant participants.
- the prior art sees each of the coupling units integrated here already in the relevant local subscriber as their own device, which is in each case connected between two users.
- the integration of the respective coupling unit in a subscriber is cheaper and easier to maintain.
- the automation system shown consists of several participants, which can be pronounced both as a sender and as a receiver at the same time, for example, from a control computer 1, several drives, where for reasons the clear representation of only the drive 2 is designated, and other computers 3, 4, 5, by means of connection cable, in particular Ethernet cable, where for reasons of clarity, only the connections 6a, 7a, 8a, 9a are designated, to a switchable data network , in particular Ethernet, are interconnected.
- connection cable in particular Ethernet cable
- switchable data network in particular Ethernet
- the control computer 1 is for example additionally connected to a company-internal communication network, for example intranet 11 and / or the worldwide communication network Internet 11. From the control computer 1 real-time critical data, for example, to control drive 2 via the connections 6a, 7a, 8a, 9a sent.
- This real-time critical data must be processed exactly at the time X of drive 2, otherwise unwanted effects, such as late startup of the drive 2, etc., occur, which disturb the functioning of the automation system.
- the respective forwarding of the real-time critical data is performed by the coupling units 6, 7, 8, 9 to the coupling unit 10, which transfers them to the receiver drive 2, from which the data are processed at the time X.
- the application of the disclosed invention makes it possible, in parallel to the real-time communication, to use any non-real-time-critical communication in the same data network without disturbing the real-time communication.
- This is indicated by the connection of the computers 3 and 4, in which no coupling unit is integrated and which are integrated by means of direct Ethernet connection in the illustrated automation system.
- the computers 3 and 4 do not participate in the real-time communication, but only in the spontaneous, Internet-capable, not real-time critical communication without disturbing the real-time communication.
- the invention is based on the idea that real-time-critical and non-real-time-critical communication in switchable data networks is separated from one another such that the non-real-time critical communication does not have a disruptive effect on the real-time critical communication.
- Prerequisite for this separation is on the one hand, that all participants and switching units of the switchable data network by time synchronization with each other always have a common synchronous time base. This is done by permanent application of the time synchronization method according to the non-prepublished application DE 10004425.5 guaranteed during operation of a distributed automation system.
- the second prerequisite for the separation is the predictability of the real-time critical communication, which is given by the fact that the real-time communication in the application areas considered here in particular the drive technology cyclically occurs, ie a data transmission takes place in one or more transmission cycles.
- FIG. 2 is the expression of a basic structure of a transmission cycle which is divided into two areas, exemplified.
- a transmission cycle 12 is divided into a first area 13, which is provided for the transmission of real-time critical data, and a second area 14, which is provided for the transmission of non-real-time critical data.
- the length of the illustrated transmission cycle 12 symbolizes its duration 17, which is advantageously between one microsecond and ten seconds depending on the purpose.
- the time period 17 of a transmission cycle 12 is variable, but is determined at least once before the time of data transmission, for example by the control computer 1 and is the same length for all participants and switching units of the switchable data network.
- the time period 17 of a transmission cycle 12 and / or the time duration of the first area 13, which is provided for transmitting real-time critical data may at any time, for example at previously scheduled, fixed times and / or after a planned number of transmission cycles, advantageously before the beginning of a transmission cycle 12 are changed by the control computer 1, for example, switches to other scheduled, real-time critical transmission cycles.
- the control computer 1 can at any time during operation of an automation system as required carry out new planning of the real-time communication, whereby also the time period 17 of a transmission cycle 12 can be changed.
- the absolute duration 17 of a transmission cycle 12 is a measure of the time proportion, or the bandwidth of the non-real-time critical communication during a transmission cycle 12, ie the time that is available for non-real-time critical communication.
- non-real-time critical communication has a bandwidth of 30% for a period of time 17 of a transmission cycle 12 of 500us, a bandwidth of 97% for 10ms.
- the first area 13 is provided for transmitting real-time critical data, a certain period of time for sending data telegrams for the organization of the data transmission 15 is reserved before sending the actual real-time critical data telegrams, of which for clarity, only the data message 16 is designated.
- the data telegrams for organizing the data transmission 15 include, for example, data for time synchronization of the participants and coupling units of the data network and / or data for topology detection of the network. After these data telegrams have been sent, the real-time critical data telegrams, or data telegram 16, are sent. Since the real-time communication through the cyclic operation can be planned in advance, the transmission times or the times for forwarding the real-time critical data telegrams before the start of data transmission are known for all, real-time critical data telegrams of a transmission cycle 12, respectively data telegram 16, ie the duration of the Area 14 for transmission of non-real-time critical data is automatically determined by the time duration of area 13 for transmission of real-time critical data.
- the advantage of this arrangement is that in each case only the necessary transmission time is used for the real-time critical data traffic and after its completion, the remaining time is automatically available for non-real-time critical communication, for example for non-schedulable Internet communication or other non-real-time critical applications. It is particularly advantageous that the time duration of the area 13 for the transmission of real-time critical data is determined in each case by the connection-specific data to be transmitted, ie, the time duration of the two areas is determined for each individual data connection by the respectively necessary amount of data to be transmitted real-time critical data, thereby the time division of area 13 and area 14 may be different for each individual data link for each transmission cycle 12.
- the real-time communication is planned in advance in such a way that the arrival of the real-time critical data telegrams in the corresponding coupling units is planned such that the considered, real-time critical data telegrams, for example data telegram 16, arrive at the latest at the forwarding time or earlier at the corresponding coupling units
- the real-time critical data telegrams can , respectively data telegram 16, are sent or forwarded without time interval, so that the available time period is used in the best possible way by the densely packed transmission or forwarding.
- FIG. 3 shows the principle of operation in a switched network. Shown are representative of a network, a participant 18, such as a drive, and a subscriber 19, for example, a control computer, each with integrated coupling units 20, 21 and another participant 36 without coupling unit, which are connected to each other by the data links 32, 33.
- the coupling unit 20 is connected via the external port 30, the data connection 32 and the external port 31 to the coupling unit 21.
- On the designation of the other illustrated external ports of the coupling units 20, 21 has been omitted for the sake of clarity. On the presentation of other participants with or without integrated coupling unit was also omitted for the sake of clarity. Data connections 34, 35 to other subscribers starting from the illustrated coupling units 20, 21 are only indicated.
- the coupling units 20, 21 each have local memory 24, 25, which via the internal interfaces 22, 23 are connected to the participants 18, 19. Via the interfaces 22, 23, the participants 18, 19 exchange data with the corresponding coupling units 20, 21.
- the local memories 24, 25 are connected within the coupling units 20, 21 via the data links 28, 29 to the control units 26, 27.
- the control units 26, 27 receive data or forward data via the internal data links 28, 29 from or to the local memories 24, 25 or via one or more of the external ports, for example port 30 or port 31.
- subscriber 21 has real-time-critical data, these are picked up at the time scheduled for the real-time critical communication via the interface 23, the local memory 25 and the connection 29 from the control unit 27 and from there via the provided external port, for example, port 31 to Coupling unit 20 sent.
- non-real-time critical data can be transmitted during the, intended for the transmission of non-real-time critical portion of a transmission cycle, they are cached in the local memory 25 of the coupling unit 21 until they during a, for the transmission the non-real-time critical data area of a later transmission cycle can be transmitted, whereby Disturbances of real-time communication are excluded in any case.
- the real-time critical data telegrams which arrive via data connection 32 via the external port 30 at the control unit 26 of the coupling unit 20, are forwarded directly via the corresponding external ports.
- the planning in advance of the real-time communication also ensures that, for example, no data collisions occur on the data connection 34 starting from port 38.
- FIG. 4 shows a schematic representation of the interfaces between a local subscriber and a coupling unit.
- the coupling unit 40 is integrated according to the disclosed invention in the subscriber 39, for example, a control computer 1 of an automation system.
- Participant 39 participates in both real-time critical and non-real-time critical communication, therefore real-time critical applications 48, for example for controlling drives of an automation system, and non-real-time critical applications 49, such as spontaneous internet communication or word processing software, are installed on the subscriber 39 , For reasons of clarity, only logical and no physical connections, in particular data connections are shown.
- the communication between subscriber 39 and integrated coupling unit 40 takes place via the local memory 41, in which the corresponding data, which are sent by subscriber 39 or intended for subscriber 39, are buffered.
- Both the subscriber 39 and the coupling unit 40 must be able to access the local memory 41; the physical location of the local memory 41, which in the exemplary embodiment shown is part of the coupling unit 40, for example, is not important here.
- two separate accesses to the subscriber 39 are required, with one access for the exchange of real-time critical data and the other access for the exchange of non-real-time critical data.
- the physical communication takes place via two separate ones Logical interfaces 42 and 43, between the data network and the coupling unit 40, not shown for reasons of clarity, and the logically separate communication channels 46 and 47 between the memory 41, ie the coupling unit 40, and the subscriber 39th Die Thomasstelle 42 und die Kilunikationskanal 46
- the communication channels for the real-time-critical, the interface 43 and the communication channel 47 characterize the communication channels for non-real-time critical communication.
- the two logically separated interfaces 42 and 43 and the communication channels 46 and 47 respectively shown are each physically the same communication channel used to communicate the respective data in both directions.
- drivers 44 and the real-time-critical applications 48 can be processed with a higher priority than drivers 45 and the non-real-time critical applications 49.
- real-time processing of the real-time-critical data can also be guaranteed in the subscriber 39.
- the separation of the real-time critical and the non real-time critical communication, which is necessary for ensuring the real-time communication, also has the advantage that existing non-real-time communication programs, especially existing drivers can be used without restriction, which on the one hand no expensive new developments are necessary and, on the other hand, the further evolution of non-real-time critical standard communication has no effect on real-time communication itself and therefore may be included without limitation in the disclosed invention.
- the invention relates to a system and a method that enables both real-time critical and non-real-time critical communication in a switchable data network consisting of subscribers and switching units, for example, a distributed automation system by a cyclic operation.
- a so-called transmission cycle (12) at least one area (13) for transmitting real-time critical and at least one area (14) for transmitting non-real time critical data exists for all users and switching units of the switchable data network, whereby the real-time critical is separated from the non-real-time critical communication. Since all subscribers and switching units are always synchronized to a common time base, the respective areas for transmitting data for all subscribers and switching units take place at the same time, i.
- Real-time critical communication takes place independently of time-critical communication and is therefore not influenced by it.
- Real-time critical communication is planned in advance. Feeding of the data telegrams at the originating transmitter and their forwarding by means of the participating coupling units is time-based. By buffering in the respective coupling units is achieved that occurring at any time, spontaneous, internet-capable, not real-time critical communication in the, provided for the non-real-time communication transmission range (14) of a transmission cycle (12) and also transmitted only there.
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Abstract
Description
Die Erfindung bezieht sich auf ein System und Verfahren zur parallelen Übertragung von echtzeitkritischen und nicht echtzeitkritischen Daten über schaltbare Datennetze, insbesondere Ethernet.The invention relates to a system and method for the parallel transmission of real-time critical and non real-time critical data via switchable data networks, in particular Ethernet.
Datennetze ermöglichen die Kommunikation zwischen mehreren Teilnehmern durch die Vernetzung, also Verbindung der einzelnen Teilnehmer untereinander. Kommunikation bedeutet dabei die Übertragung von Daten zwischen den Teilnehmern. Die zu übertragenden Daten werden dabei als Datentelegramme verschickt, d.h. die Daten werden zu mehreren Paketen zusammengepackt und in dieser Form über das Datennetz an den entsprechenden Empfänger gesendet. Man spricht deshalb auch von Datenpaketen. Der Begriff Übertragung von Daten wird dabei in diesem Dokument völlig synonym zur oben erwähnten Übertragung von Datentelegrammen oder Datenpaketen verwendet. Die Vernetzung selbst wird beispielsweise bei schaltbaren Hochleistungsdatennetzen, insbesondere Ethernet, dadurch gelöst, dass zwischen zwei Teilnehmern jeweils mindestens eine Koppeleinheit geschaltet ist, die mit beiden Teilnehmern verbunden ist. Jede Koppeleinheit kann mit mehr als zwei Teilnehmern verbunden sein. Ist der Teilnehmer mit einer Koppeleinheit integriert, so kann die Koppeleinheit auch nur mit einer anderen Koppeleinheit oder einem anderen Teilnehmer verbunden sein, also ein Endgerät darstellen. Jeder Teilnehmer ist mit mindestens einer Koppeleinheit, aber nicht direkt mit einem anderen Teilnehmer verbunden. Teilnehmer sind beispielsweise Computer, speicherprogrammierbare Steuerungen (SPS) oder andere Maschinen, die elektronische Daten mit anderen Maschinen austauschen, insbesondere verarbeiten. Im Gegensatz zu Bussystemen, bei denen jeder Teilnehmer jeden anderen Teilnehmer des Datennetzes direkt über den Datenbus erreichen kann, handelt es sich bei den schaltbaren Datennetzen ausschließlich um Punkt-zu-Punkt-Verbindungen, d.h. ein Teilnehmer kann alle anderen Teilnehmer des schaltbaren Datennetzes nur indirekt, durch entsprechende Weiterleitung der zu übertragenden Daten mittels einer oder mehrerer Koppeleinheiten erreichen.Data networks allow communication between several participants through networking, ie connection of the individual participants with each other. Communication means the transmission of data between the participants. The data to be transmitted are sent as data telegrams, ie, the data is packed into several packets and sent in this form over the data network to the appropriate recipient. This is why we also speak of data packets. The term transmission of data is used in this document completely synonymous with the above-mentioned transmission of data telegrams or data packets. The networking itself is achieved, for example, in switchable high-performance data networks, in particular Ethernet, in that at least one coupling unit is connected between two subscribers, which is connected to both subscribers. Each coupling unit can be connected to more than two participants. If the subscriber is integrated with a coupling unit, the coupling unit can also be connected only to another coupling unit or to another subscriber, ie to represent a terminal. Each participant is connected to at least one coupling unit but not directly to another participant. Participants are, for example, computers, programmable logic controllers (PLCs) or other machines that exchange electronic data with other machines, in particular process. Unlike bus systems, where each participant is every other participant of the data network can reach directly over the data bus, it is the switchable data networks exclusively to point-to-point connections, ie a subscriber can only indirectly all other participants of the switchable data network, by corresponding forwarding of the data to be transmitted by means of one or more Reaching coupling units.
In verteilten Automatisierungssystemen, beispielsweise im Bereich Antriebstechnik, müssen bestimmte Daten zu bestimmten Zeiten bei den dafür bestimmten Teilnehmern eintreffen und von den Empfängern verarbeitet werden. Man spricht dabei von echtzeitkritischen Daten bzw. Datenverkehr, da ein nicht rechtzeitiges Eintreffen der Daten am Bestimmungsort zu unerwünschten Resultaten beim Teilnehmer führt. Gemäß IEC 61491, EN61491 SERCOS interface - Technische Kurzbeschreibung (http://www.sercos.de/deutsch/index_deutsch.htm) kann ein erfolgreicher echtzeitkritischer Datenverkehr der genannten Art in verteilten Automatisierungssystemen gewährleistet werden.In distributed automation systems, for example in the field of drive technology, certain data must arrive at specific times at specific times and be processed by the receivers. This is referred to as real-time critical data or data traffic, since an inaccurate arrival of the data at the destination leads to undesired results for the subscriber. According to IEC 61491, EN61491 SERCOS interface - Technical Description (http://www.sercos.de/english/index_english.htm), successful real-time critical data traffic of the type mentioned can be ensured in distributed automation systems.
Aus der
Aus dem Aufsatz "
Aufgabe der Erfindung ist es, ein System und ein Verfahren zur Übertragung von Daten über schaltbare Datennetze, insbesondere Ethernet, anzugeben, das einen Mischbetrieb von echtzeitkritischer und nicht echtzeitkritischer, insbesondere inter- bzw. intranetbasierte Datenkommunikation, im selben Datennetz ermöglicht.The object of the invention is to provide a system and a method for the transmission of data via switchable data networks, in particular Ethernet, which allows a mixed operation of real-time critical and non real-time critical, in particular inter- or intranet-based data communication in the same data network.
Diese Aufgabe wird durch ein Verfahren zur Übertragung von Daten über schaltbare Datennetze, insbesondere Ethernet im Bereich industrieller Anlagen, gelöst, bei dem echtzeitkritische und nicht echtzeitkritische Daten übertragen werden, wobei das schaltbare Datennetz zwischen wenigstens zwei Teilnehmern, insbesondere einem Sender und einem Empfänger aufgebaut ist, wobei die Daten in wenigstens einem Übertragungszyklus mit einstellbarer Zeitdauer übertragen werden, jeder Übertragungszyklus in wenigstens einen ersten Bereich zur Übertragung von echtzeitkritischen Daten zur Echtzeitsteuerung und wenigstens einen zweiten Bereich zur Übertragung von nicht echtzeitkritischen Daten unterteilt ist.This object is achieved by a method for transmitting data via switchable data networks, in particular Ethernet in the field of industrial installations, are transmitted in the real-time critical and non-real-time critical data, the switchable data network between at least two participants, in particular a transmitter and a receiver is constructed wherein the data is transmitted in at least one adjustable-length transmission cycle, each transmission cycle is transmitted in at least a first range for transmission of real-time critical data for real-time control and at least a second area is subdivided for transmission of non-real-time critical data.
Diese Aufgabe wird durch ein System zur Übertragung von Daten über schaltbare Datennetze, insbesondere Ethernet im Bereich industrieller Anlagen, mit mindestens einer mit einem Datennetz koppelbaren Datenverarbeitungsvorrichtung gelöst, das echtzeitkritische und nicht echtzeitkritische Daten überträgt, wobei das schaltbare Datennetz zwischen wenigstens zwei Teilnehmern, insbesondere einem Sender und einem Empfänger aufgebaut ist, wobei das System Mittel zur Übertragung von Daten in wenigstens einem Übertragungszyklus mit einstellbarer Zeitdauer aufweist, jeder Übertragungszyklus in wenigstens einen ersten Bereich zur Übertragung von echtzeitkritischen Daten zur Echtzeitsteuerung und wenigstens einen zweiten Bereich zur Übertragung von nicht echtzeitkritischen Daten unterteilt ist.This object is achieved by a system for transmitting data via switchable data networks, in particular Ethernet in the field of industrial facilities, with at least one data processing device which can be coupled to a data network, which transmits real-time-critical and non-real-time critical data, the switchable data network between at least two subscribers, in particular one Transmitter and a receiver, the system having means for transmitting data in at least one adjustable-length transmission cycle, each transmission cycle divided into at least a first real-time control real-time data transmission area and at least a second non-real-time data transmission area is.
Der Erfindung liegt die Erkenntnis zugrunde, dass eine offene internetbasierte Kommunikation spontane Kommunikation ist, d.h., dass sowohl Zeitpunkt solcherart Kommunikation als auch die anfallende Datenmenge, die dabei zu transferieren ist, nicht vorher bestimmbar ist. Dadurch sind Kollisionen auf den Übertragungsleitungen bei Bussystemen bzw. in den Koppeleinheiten bei schaltbaren Hochgeschwindigkeitsnetzen, insbesondere Fast Ethernet oder Switched Ethernet, nicht auszuschlie-ßen. Um die Vorteile der Internetkommunikationstechnologie auch bei der Echtzeitkommunikation in schaltbaren Datennetzen im Bereich der Automatisierungstechnik, insbesondere der Antriebstechnik nutzen zu können, ist ein Mischbetrieb von Echtzeitkommunikation mit sonstiger spontaner, nicht echtzeitkritischer Kommunikation, insbesondere Internetkommunikation wünschenswert. Dies wird dadurch möglich, dass die Echtzeitkommunikation, die in den hier betrachteten Anwendungsgebieten vorwiegend zyklisch auftritt und somit im Voraus planbar ist, von der im Gegensatz dazu nicht planbaren, nicht echtzeitkritischen Kommunikation, insbesondere der offenen, internetbasierten Kommunikation strikt getrennt wird.The invention is based on the finding that an open Internet-based communication is spontaneous communication, ie that both the time of such communication and the amount of data that has to be transferred can not be determined beforehand. As a result, collisions on the transmission lines in bus systems or in the coupling units in switchable high-speed networks, in particular Fast Ethernet or Switched Ethernet, can not be ruled out. In order to be able to use the advantages of Internet communication technology also in real-time communication in switchable data networks in the field of automation technology, in particular drive technology, a mixed operation of real-time communication with other spontaneous, non-real-time critical communication, in particular Internet communication, is desirable. This is made possible by the fact that the real-time communication, which predominantly occurs cyclically in the application areas considered here and can thus be planned in advance, is not, in contrast, unforeseeable Real-time critical communication, especially open, Internet-based communication is strictly separated.
Die Kommunikation zwischen den Teilnehmern erfolgt dabei in Übertragungszyklen, wobei jeder Übertragungszyklus in wenigstens einen ersten Bereich zur Übertragung von echtzeitkritischen Daten zur Echtzeitsteuerung, beispielsweise der dafür vorgesehenen industriellen Anlagen und wenigstens einen zweiten Bereich zur Übertragung von nicht echtzeitkritischen Daten, beispielsweise bei der offenen, internetfähigen Kommunikation unterteilt ist. Eine besonders vorteilhafte Ausgestaltung der Erfindung ist dabei dadurch gekennzeichnet, dass jedem Teilnehmer eine Koppeleinheit zugeordnet ist, die zum Senden und/oder zum Empfangen und/oder zur Weiterleitung der zu übertragenden Daten vorgesehen ist.The communication between the subscribers takes place in transmission cycles, wherein each transmission cycle in at least a first range for transmitting real-time critical data for real-time control, such as the designated industrial facilities and at least a second area for transmitting non-real-time critical data, for example, the open, internet capable Communication is divided. A particularly advantageous embodiment of the invention is characterized in that each participant is assigned a coupling unit which is provided for transmitting and / or receiving and / or for forwarding the data to be transmitted.
Eine außerordentlich vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass alle Teilnehmer und Koppeleinheiten des schaltbaren Datennetzes durch Zeitsynchronisation untereinander stets eine gemeinsame synchrone Zeitbasis aufweisen. Dies ist Voraussetzung für eine Trennung der planbaren Echtzeitkommunikation von der nicht planbaren, nicht echtzeitkritischen Kommunikation. Die Trennung der planbaren Echtzeitkommunikation und der nicht planbaren, nicht echtzeitkritischen Kommunikation wird durch Anwendung des Verfahrens zur Zeitsynchronisation gemäß der nicht vorveröffentlichten Anmeldung
Eine weitere besonders vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass alle nicht echtzeitkritischen Daten, die während des, für die echtzeitkritische Kommunikation vorgesehenen Bereichs eines Übertragungszyklus übertragen werden sollen, von der jeweiligen Koppeleinheit zwischengespeichert und während des, für die nicht echtzeitkritische Kommunikation vorgesehenen Bereichs dieses oder eines folgenden Übertragungszyklus übertragen werden, d.h. eine im ersten Bereich eines Übertragungszyklus, der für die Echtzeitkommunikation reserviert ist, möglicherweise auftretende, nicht geplante Internetkommunikation wird in den zweiten Bereich des Übertragungszyklus, der für die spontane, nicht echtzeitkritische Kommunikation vorbehalten ist, verschoben, wodurch Störungen der Echtzeitkommunikation vollständig vermieden werden. Die entsprechenden Daten der spontanen, nicht echtzeitkritischen Kommunikation werden dabei von der jeweils betroffenen Koppeleinheit zwischengespeichert und nach Ablauf des Bereichs für die Echtzeitkommunikation erst im zweiten Bereich des Übertragungszyklus, der für die spontane, nicht echtzeitkritische Kommunikation vorbehalten ist, gesendet. Dieser zweite Bereich, d.h. die gesamte Zeitdauer bis zum Ende des Übertragungszyklus, steht allen Teilnehmern für die nicht planbare, nicht echtzeitkritische Kommunikation, insbesondere Internetkommunikation zur Verfügung, ebenfalls ohne die Echtzeitkommunikation zu beeinflussen, da diese zeitlich getrennt durchgeführt wird.A further particularly advantageous embodiment of the invention is characterized in that all non-real-time critical data which is to be transmitted during the intended range of real-time communication range of a transmission cycle, temporarily stored by the respective coupling unit and during the, not real-time critical communication provided this area or a subsequent transmission cycle, ie a non-scheduled Internet communication possibly occurring in the first area of a transmission cycle reserved for real-time communication is shifted to the second area of the transmission cycle reserved for spontaneous, non-real-time critical communication, thereby completely avoiding real-time communication disturbances. The corresponding data of the spontaneous, not real-time-critical communication are buffered by the respective coupling unit concerned and after the expiration of the real-time communication area only in the second area of the transmission cycle, which is reserved for the spontaneous, not real-time critical communication. This second area, i. the entire time period until the end of the transmission cycle is available to all subscribers for unpredictable, non-real-time critical communication, in particular internet communication, likewise without influencing the real-time communication since this is carried out separately in time.
Kollisionen mit den echtzeitkritischen Datentelegrammen in den Koppeleinheiten können dadurch vermieden werden, dass alle nicht echtzeitkritischen Daten, die während des, für die Übertragung der nicht echtzeitkritischen Daten vorgesehenen Bereichs eines Übertragungszyklus nicht übertragen werden können, von der jeweiligen Koppeleinheit zwischengespeichert und während des, für die Übertragung der nicht echtzeitkritischen Daten vorgesehenen Bereichs eines späteren Übertragungszyklus übertragen werden.Collisions with the real-time critical data telegrams in the coupling units can be avoided in that all non-real-time critical data provided during the, for the transmission of non-real-time critical data Range of a transmission cycle can not be transmitted, cached by the respective coupling unit and during the, intended for the transmission of the non-real-time critical data area of a subsequent transmission cycle.
Eine weitere vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass die Zeitdauer des Bereichs zur Übertragung von nicht echtzeitkritischen Daten innerhalb eines Übertragungszyklus automatisch durch die Zeitdauer des Bereichs zur Übertragung von echtzeitkritischen Daten festgelegt wird. Vorteil dieser Anordnung ist, dass jeweils nur die notwendige Übertragungszeit für den echtzeitkritischen Datenverkehr verwendet wird und die restliche Zeit automatisch für die nicht echtzeitkritische Kommunikation, beispielsweise für die nicht planbare Internetkommunikation bzw. andere nicht echtzeitkritische Anwendungen zur Verfügung steht. Besonders vorteilhaft ist, dass die Zeitdauer des Bereichs zur Übertragung von echtzeitkritischen Daten innerhalb eines Übertragungszyklus jeweils durch die verbindungsspezifisch zu übertragenden Daten bestimmt wird, d.h., die Zeitdauer der beiden Bereiche wird für jede einzelne Datenverbindung durch die jeweils notwendige Datenmenge der zu übertragenden echtzeitkritischen Daten bestimmt, wodurch die Aufteilung der beiden Bereiche und damit die Zeit, die zur nicht echtzeitkritischen Kommunikation zur Verfügung steht, für jede einzelne Datenverbindung zwischen zwei Koppeleinheiten für jeden Übertragungszyklus optimiert ist.A further advantageous embodiment of the invention is characterized in that the time duration of the area for the transmission of non-real-time critical data within a transmission cycle is automatically determined by the time duration of the area for the transmission of real-time critical data. The advantage of this arrangement is that in each case only the necessary transmission time is used for the real-time-critical data traffic and the remaining time is automatically available for non-real-time critical communication, for example for non-schedulable Internet communication or other non-real-time critical applications. It is particularly advantageous that the time duration of the range for transmitting real-time critical data within a transmission cycle is determined in each case by the connection-specific data to be transmitted, ie, the time duration of the two areas is determined for each individual data connection by the respectively required amount of data to be transmitted real-time critical data whereby the division of the two areas and thus the time available for non-real-time critical communication is optimized for each individual data connection between two coupling units for each transmission cycle.
Eine weitere vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass die Zeitdauer eines Übertragungszyklus wenigstens einmal vor der jeweiligen Durchführung der Datenübertragung festgelegt wird. Dies hat den Vorteil, dass dadurch bei jedem Start einer neuen, im Voraus geplanten Datenübertragung die Zeitdauer eines Übertragungszyklus auf die jeweiligen Erfordernisse zur Echtzeitkommunikation bzw. zur offenen, internetfähigen Kommunikation abgestimmt werden kann. Selbstverständlich ist es auch möglich, dass die Zeitdauer eines Übertragungszyklus und/oder die Zeitdauer des Bereichs zur Übertragung von echtzeitkritischen Daten eines Übertragungszyklus je nach Erfordernis verändert werden kann, beispielsweise zu vorher geplanten, festen Zeitpunkten und/oder nach einer geplanten Anzahl von Übertragungszyklen, vorteilhafterweise vor Beginn eines Übertragungszyklus durch Umschalten auf andere geplante, echtzeitkritische Übertragungszyklen. Vorteilhafterweise liegt die Zeitdauer eines Übertragungszyklus je nach Anwendungszweck zwischen einer Mikrosekunde und zehn Sekunden.A further advantageous embodiment of the invention is characterized in that the time duration of a transmission cycle is determined at least once prior to the respective execution of the data transmission. This has the advantage that at each start of a new, planned in advance data transmission, the duration of a transmission cycle to the respective requirements for real-time communication or open, Internet-enabled communication are tuned can. Of course, it is also possible that the duration of a transmission cycle and / or the duration of the range for transmitting real-time critical data of a transmission cycle can be changed as required, for example at previously scheduled, fixed times and / or after a planned number of transmission cycles, advantageously before the beginning of a transmission cycle by switching to other scheduled, real-time critical transmission cycles. Advantageously, the duration of a transmission cycle, depending on the application between one microsecond and ten seconds.
Eine weitere überaus vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass Neuplanungen der Echtzeitkommunikation jederzeit im laufenden Betrieb eines Automatisierungssystems durchgeführt werden können, wodurch eine flexible Anpassung der Echtzeitsteuerung an sich kurzfristig ändernde Randbedingungen gewährleistet ist. Dadurch ist ebenfalls eine Änderung der Zeitdauer eines Übertragungszyklus möglich.Another highly advantageous embodiment of the invention is characterized in that replanning of the real-time communication can be performed at any time during operation of an automation system, whereby a flexible adaptation of the real-time control is guaranteed at short term changing boundary conditions. As a result, a change in the duration of a transmission cycle is also possible.
Eine weitere vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass ein Teil des für die Übertragung der echtzeitkritischen Daten vorgesehenen Bereichs des Übertragungszyklus für die Übertragung von Daten zur Organisation der Datenübertragung vorgesehen ist. Von besonderem Vorteil hat sich dabei erwiesen, dass die Datentelegramme zur Organisation der Datenübertragung am Anfang des Bereichs zur Übertragung echtzeitkritischer Daten des Übertragungszyklus übertragen werden. Daten zur Organisation der Datenübertragung sind dabei beispielsweise Daten zur Zeitsynchronisation der Teilnehmer und Koppeleinheiten des Datennetzes, Daten zur Topologieerkennung des Netzwerks, etc.A further advantageous embodiment of the invention is characterized in that a part of the intended for the transmission of real-time critical data range of the transmission cycle for the transmission of data to organize the data transmission is provided. It has proven to be of particular advantage in this case that the data telegrams for the organization of the data transmission are transmitted at the beginning of the area for the transmission of real-time-critical data of the transmission cycle. Data for the organization of the data transmission are, for example, data for the time synchronization of the subscribers and coupling units of the data network, data for the topology recognition of the network, etc.
Eine weitere vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass für alle zu übertragenden, echtzeitkritischen Datentelegramme Sende- und Empfangszeitpunkt bei Sender und/oder Empfänger und in allen jeweils beteiligten Koppeleinheiten alle Zeitpunkte für die Weiterleitung der echtzeitkritischen Datentelegramme sowie die jeweils zugehörigen Verbindungsstrecken, über die die echtzeitkritischen Datentelegramme weitergeleitet werden, vor Beginn der jeweiligen Durchführung der Datenübertragung vermerkt sind, d.h. es ist in einer Koppeleinheit vermerkt, wann und an welchen Ausgangsport ein zum Zeitpunkt X ankommendes echtzeitkritisches Datentelegramm weiter gesendet werden soll.A further advantageous embodiment of the invention is characterized in that for all to be transmitted, real-time critical data telegrams transmitting and receiving time all time points for the forwarding of the real-time critical data telegrams and the respective associated links via which the real-time critical data telegrams are forwarded before the start of the respective implementation of data transmission, ie it is in a coupling unit at stations and / or receivers and in each coupling units involved notes when and at which output port a real-time critical data telegram arriving at time X should be sent on.
Eine weitere überaus vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass die Weiterleitungszeitpunkte so geplant sind, dass jedes echtzeitkritische Datentelegramm spätestens zum Weiterleitungszeitpunkt oder früher bei der entsprechenden Koppeleinheit ankommt, es aber auf jeden Fall erst zum Weiterleitungszeitpunkt weitergesendet wird. Damit ist das Problem von Zeitunschärfen, das sich insbesondere bei langen Übertragungsketten bemerkbar macht, eliminiert. Dadurch können die echtzeitkritischen Datentelegramme unmittelbar, ohne zeitlichen Zwischenraum gesendet bzw. weitergeleitet werden, d.h. eine schlechtere Nutzung der Bandbreite bei Echtzeitdatenpaketen wird vermieden. Selbstverständlich ist es aber auch möglich bei Bedarf Sendepausen zwischen der Übertragung der einzelnen Datenpakete einzubauen.Another highly advantageous embodiment of the invention is characterized in that the forwarding times are planned so that each real-time critical data telegram arrives at the latest forwarding time or earlier at the corresponding coupling unit, but it is forwarded in any case until the forwarding time. This eliminates the problem of time blurring, which is particularly noticeable in long transmission chains. As a result, the real-time-critical data telegrams can be transmitted or forwarded directly, without time interval, i. a worse use of bandwidth in real-time data packets is avoided. Of course, it is also possible if necessary to incorporate transmission pauses between the transmission of the individual data packets.
Ein weiterer Vorteil der zeitbasierten Weiterleitung ist, dass die Zielfindung in der Koppeleinheit nicht mehr adressbasiert ist, weil von vornherein klar ist, an welchen Port weitergesendet werden soll. Damit ist die optimale Nutzung aller vorhandenen Verbindungsstrecken innerhalb des schaltbaren Datennetzes möglich. Redundante Verbindungsstrecken des schaltbaren Datennetzes, die für die adressbasierte Durchschaltung der nicht echtzeitkritischen Kommunikation nicht benutzt werden dürfen, weil es andernfalls zu Zirkularitäten von Datenpaketen kommen würde, können aber im Voraus für die Planung der Weiterleitungsstrecken berücksichtigt und somit für die Echtzeitkommunikation benutzt werden. Dadurch ist die Realisierung von redundanten Netzwerktopologien, z.B. Ringe für fehlertolerante Echtzeitsysteme, möglich. Datenpakete können redundant auf disjunkten Pfaden gesendet werden, Zirkularitäten von Datenpaketen treten nicht auf. Ein weiterer Vorteil der vorausgeplanten Weiterleitung ist, dass die Überwachung jeder Teilstrecke dadurch quittungslos möglich und eine Fehlerdiagnose damit einfach durchführbar ist.A further advantage of time-based forwarding is that the destination determination in the coupling unit is no longer address-based, because it is clear from the outset which port should be forwarded to. Thus, the optimal use of all existing links within the switchable data network is possible. Redundant links of the switchable data network, which should not be used for the address-based switching of non-real-time critical communication, because otherwise would be circularities of data packets, but can be considered in advance for the planning of the forwarding lines and thus used for real-time communication. This is the result Realization of redundant network topologies, eg rings for fault-tolerant real-time systems, possible. Data packets can be sent redundantly on disjoint paths, circularities of data packets do not occur. Another advantage of the forwarded forwarding is that the monitoring of each leg is thus possible without acknowledgment and a fault diagnosis is thus easy to carry out.
Eine weitere, außerordentlich vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass wenigstens ein beliebiger Teilnehmer, insbesondere ein Teilnehmer mit der Fähigkeit zur offenen, internetfähigen Kommunikation, mit oder ohne zugeordnete Koppeleinheit, zu einem schaltbaren Datennetz hinzugefügt werden kann und dabei sichergestellt ist, dass kritische Datentransfers zum gewünschten Zeitpunkt erfolgreich durchgeführt werden, auch wenn der beliebige Teilnehmer eine nicht echtzeitkritische Kommunikation, insbesondere Internetkommunikation parallel zu einer echtzeitkritischen Kommunikation durchführt.A further, extremely advantageous embodiment of the invention is characterized in that at least one arbitrary subscriber, in particular a subscriber with the ability to open, Internet-capable communication, with or without associated coupling unit, can be added to a switchable data network and it is ensured that critical Data transfers are performed successfully at the desired time, even if the arbitrary participant performs a non real-time critical communication, in particular Internet communication in parallel to a real-time critical communication.
Eine weitere, besonders vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass eine Koppeleinheit in einen Teilnehmer integriert ist. Dadurch ergibt sich ein außerordentlicher Kostenvorteil gegenüber den, bisher immer als selbständige Bausteine realisierten Koppeleinheiten, auch Switches genannt.A further, particularly advantageous embodiment of the invention is characterized in that a coupling unit is integrated into a subscriber. This results in an extraordinary cost advantage over the previously implemented as independent blocks coupling units, also called switches.
Eine weitere vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass eine Koppeleinheit zwei getrennte Zugänge zum jeweiligen Teilnehmer aufweist, wobei ein Zugang für den Austausch von echtzeitkritischen Daten und der andere Zugang für den Austausch von nicht echtzeitkritischen Daten vorgesehen ist. Dies hat den Vorteil, dass echtzeitkritische und nicht echtzeitkritische Daten getrennt verarbeitet werden. Der Zugang für die nicht echtzeitkritischen Daten entspricht der handelsüblichen Schnittstelle eines regulären Ethernet-Kontrollers wodurch die bisher existierende Software, insbesondere Treiber, ohne Einschränkung verwendbar ist. Dasselbe gilt für die bisher existierende Software für ein nicht echtzeitfähiges Datennetz.
Im folgenden wird die Erfindung anhand der in den Figuren dargestellten Ausführungsbeispiele näher beschrieben und erläutert.A further advantageous embodiment of the invention is characterized in that a coupling unit has two separate accesses to the respective subscriber, wherein an access for the exchange of real-time critical data and the other access for the exchange of non-real-time critical data is provided. This has the advantage that real-time critical and non-real-time critical data are processed separately. The access for the non-real-time critical data corresponds to the commercial interface of a regular Ethernet controller, whereby the previously existing software, In particular driver, without restriction is usable. The same applies to the hitherto existing software for a non-real-time capable data network.
In the following the invention with reference to the embodiments illustrated in the figures will be described and explained in more detail.
- FIG 1FIG. 1
- eine schematische Darstellung eines Ausführungsbeispiels für ein verteiltes Automatisierungssystems,a schematic representation of an embodiment of a distributed automation system,
- FIG 2FIG. 2
- den prinzipiellen Aufbau eines Übertragungszyklus,the basic structure of a transmission cycle,
- FIG 3FIG. 3
- die prinzipielle Arbeitsweise in einem geschalteten Netzwerk undthe principle of operation in a switched network and
- FIG 4FIG. 4
- eine schematische Darstellung der Schnittstellen zwischen einem lokalen Teilnehmer und einer Koppeleinheit.a schematic representation of the interfaces between a local subscriber and a coupling unit.
Das gezeigte Automatisierungssystem besteht aus mehreren Teilnehmern, die gleichzeitig sowohl als Sender als auch als Empfänger ausgeprägt sein können, beispielsweise aus einem Steuerungsrechner 1, mehreren Antrieben, bei denen aus Gründen der übersichtlichen Darstellung nur der Antrieb 2 bezeichnet ist, sowie weiteren Rechnern 3, 4, 5, die mittels Verbindungskabel, insbesondere Ethernetkabel, bei denen aus Gründen der übersichtlichen Darstellung nur die Verbindungen 6a, 7a, 8a, 9a bezeichnet sind, zu einem schaltbaren Datennetz, insbesondere Ethernet, miteinander verbunden sind. Die für die Topologie eines Ethernet typischen Koppeleinheiten, bei denen aus Gründen der übersichtlichen Darstellung nur die Koppeleinheiten 6, 7, 8, 9, 10 bezeichnet sind, sind bei dieser Darstellung bereits in die jeweiligen Teilnehmer integriert. Die Koppeleinheiten dienen zum Senden und/oder zum Empfangen und/oder zur Weiterleitung der zu übertragenden Daten.The automation system shown consists of several participants, which can be pronounced both as a sender and as a receiver at the same time, for example, from a control computer 1, several drives, where for reasons the clear representation of only the
Der Steuerungsrechner 1 ist beispielsweise zusätzlich an ein firmeninternes Kommunikationsnetz beispielsweise Intranet 11 und/oder das weltweite Kommunikationsnetz Internet 11 angeschlossen. Vom Steuerungsrechner 1 werden echtzeitkritische Daten beispielsweise zur Steuerung von Antrieb 2 über die Verbindungen 6a, 7a, 8a, 9a gesendet. Diese echtzeitkritischen Daten müssen genau zum Zeitpunkt X von Antrieb 2 verarbeitet werden, da sonst unerwünschte Auswirkungen, wie z.B. verspäteter Anlauf des Antriebs 2, etc., eintreten, die die Automatisierungsanlage in ihrer Funktionsweise stören. Die jeweilige Weiterleitung der echtzeitkritischen Daten erfolgt durch die Koppeleinheiten 6, 7, 8, 9 bis zur Koppeleinheit 10, die sie an den Empfänger Antrieb 2 übergibt, von dem die Daten zum Zeitpunkt X verarbeitet werden. Im bisherigen Stand der Technik kann ein erfolgreicher echtzeitkritischer Datenverkehr der genannten Art gewährleistet werden, wenn darüber hinaus zur selben Zeit keine sonstige beliebige Kommunikation, beispielsweise Internetkommunikation durch Rechner 5, stattfindet. In diesem Fall, Internetkommunikation zur selben Zeit durch Rechner 5, fordert Rechner 5 beispielsweise eine Internetseite an. Diese nicht echtzeitkritischen Daten werden über die Verbindungen 8a, 7a, 6a mittels der Koppeleinheiten 9, 8 und 7 an die Koppeleinheit 6 weitergeleitet, welche die Daten an den Rechner 1 übergibt, der schließlich die entsprechende Anfrage an das Internet 11 absetzt und die Antwort über dieselben Verbindungen bzw. Koppeleinheiten in umgekehrter Reihenfolge an Rechner 5 zurücksendet. Die Antwort benutzt damit den gleichen Weg wie die echtzeitkritische Kommunikation. Es können damit Wartesituation in den beteiligten Koppeleinheiten auftreten und die echtzeitkritischen Daten können nicht mehr zeitgerecht beim Antrieb 2 ankommen. Ein fehlerfreier Echtzeitbetrieb kann deshalb mit dem bisherigen Stand der Technik nicht mehr garantiert werden. Die Anwendung der offenbarten Erfindung ermöglicht dagegen parallel zur Echtzeitkommunikation eine beliebige, nicht echtzeitkritische Kommunikation im gleichen Datennetz, ohne Störung der Echtzeitkommunikation. Dies ist durch den Anschluss der Rechner 3 und 4 angedeutet, bei denen keine Koppeleinheit integriert ist und die mittels direktem EthernetAnschluss in das dargestellte Automatisierungssystem integriert sind. Die Rechner 3 und 4 nehmen nicht an der Echtzeitkommunikation, sondern nur an der spontanen, internetfähigen, nicht echtzeitkritischen Kommunikation teil, ohne die Echtzeitkommunikation zu stören.The control computer 1 is for example additionally connected to a company-internal communication network, for
Der Erfindung liegt die Idee zugrunde, dass echtzeitkritische und nicht echtzeitkritische Kommunikation in schaltbaren Datennetzen so voneinander getrennt wird, dass die nicht echtzeitkritische Kommunikation keinen störenden Einfluß auf die echtzeitkritische Kommunikation nimmt. Voraussetzung für diese Trennung ist einerseits, dass alle Teilnehmer und Koppeleinheiten des schaltbaren Datennetzes durch Zeitsynchronisation untereinander stets eine gemeinsame synchrone Zeitbasis aufweisen. Dies wird durch permanente Anwendung des Verfahrens zur Zeitsynchronisation gemäß der nicht vorveröffentlichten Anmeldung
In
Die echtzeitkritischen Datentelegramme, die über Datenverbindung 32 über den externen Port 30 beim Steuerwerk 26 der Koppeleinheit 20 eintreffen, werden unmittelbar über die entsprechenden externen Ports weitergeleitet. Dies ist möglich, da die Echtzeitkommunikation im Voraus geplant ist und deshalb für alle zu übertragenden, echtzeitkritischen Datentelegramme Sende- und Empfangszeitpunkt, alle jeweils beteiligten Koppeleinheiten sowie alle Zeitpunkte für die Weiterleitung und alle Empfänger der echtzeitkritischen Datentelegramme bekannt sind, d.h. es ist beispielsweise beim Steuerwerk 26 der Koppeleinheit 20 vermerkt, dass die zum Zeitpunkt X ankommenden echtzeitkritischen Datentelegramme über den externen Port 38 an die nächste Koppeleinheit weitergesendet werden sollen. Durch die im Voraus erfolgte Planung der Echtzeitkommunikation ist auch sichergestellt, dass es beispielsweise auf der Datenverbindung 34 ausgehend von Port 38 zu keinen Datenkollisionen kommt. Dasselbe gilt natürlich für alle anderen Datenverbindungen, bzw. Ports während der Echtzeitkommunikation. Die Weiterleitungszeitpunkte aller echtzeitkritischen Datenpakete von den jeweils beteiligten Koppeleinheiten sind ebenfalls vorher geplant und damit eindeutig festgelegt. Das Ankommen der echtzeitkritischen Datentelegrammen beispielsweise im Steuerwerk 26 der Koppeleinheit 20 ist deshalb so geplant, dass die betrachteten, echtzeitkritischen Datentelegramme spätestens zum Weiterleitungszeitpunkt oder früher im Steuerwerk 26 der Koppeleinheit 20 ankommen. Damit ist das Problem von Zeitunschärfen, die sich insbesondere bei langen Übertragungsketten bemerkbar machen, eliminiert. Daten die beispielsweise für den Teilnehmer 18 bestimmt sind und im lokalen Speicher 24 der Koppeleinheit 20 zwischengespeichert wurden, werden von diesem zu gegebener Zeit abgeholt, echtzeitkritische Daten zu den vorher festgelegten Zeitpunkten und nicht echtzeitkritische Daten während des dafür vorgesehenen Bereichs.
The real-time critical data telegrams, which arrive via
Wie oben ausgeführt ist folglich ein gleichzeitiger Betrieb von echtzeitkritischer und nicht echtzeitkritischer Kommunikation im selben schaltbaren Datennetz, sowie ein beliebiger Anschluss von zusätzlichen Teilnehmern an das schaltbare Datennetz möglich, ohne die Echtzeitkommunikation selbst störend zu beeinflussen.As stated above, consequently, simultaneous operation of real-time-critical and non-real-time-critical communication in the same switchable data network and any connection of additional subscribers to the switchable data network is possible without disturbing the real-time communication itself.
Zusammenfassend betrifft die Erfindung ein System und ein Verfahren, das sowohl eine echtzeitkritische als auch eine nicht echtzeitkritische Kommunikation in einem schaltbaren Datennetz, bestehend aus Teilnehmern und Koppeleinheiten, beispielsweise eines verteilten Automatisierungssystems durch einen zyklischen Betrieb ermöglicht. In einem sogenannten Übertragungszyklus (12) existiert für alle Teilnehmer und Koppeleinheiten des schaltbaren Datennetzes jeweils wenigstens ein Bereich (13) zur Übermittlung echtzeitkritischer und wenigstens ein Bereich (14) zur Übermittlung nicht echtzeitkritischer Daten, wodurch die echtzeitkritische von der nicht echtzeitkritischen Kommunikation getrennt wird. Da alle Teilnehmer und Koppeleinheiten immer auf eine gemeinsame Zeitbasis synchronisiert sind, finden die jeweiligen Bereiche zur Übermittlung von Daten für alle Teilnehmer und Koppeleinheiten jeweils zum selben Zeitpunkt statt, d.h. die echtzeitkritische Kommunikation findet zeitlich unabhängig von der nicht echtzeitkritischen Kommunikation statt und wird deshalb nicht von dieser beeinflusst. Die echtzeitkritische Kommunikation wird im Voraus geplant. Einspeisen der Datentelegramme beim originären Sender sowie deren Weiterleitung mittels der beteiligten Koppeleinheiten erfolgt zeitbasiert. Durch Zwischenspeicherung in den jeweiligen Koppeleinheiten wird erreicht, dass zu beliebiger Zeit auftretende, spontane, internetfähige, nicht echtzeitkritische Kommunikation in den, für die nicht echtzeitkritische Kommunikation vorgesehenen Übertragungsbereich (14) eines Übertragungszyklus (12) verschoben und auch nur dort übertragen wird.In summary, the invention relates to a system and a method that enables both real-time critical and non-real-time critical communication in a switchable data network consisting of subscribers and switching units, for example, a distributed automation system by a cyclic operation. In a so-called transmission cycle (12), at least one area (13) for transmitting real-time critical and at least one area (14) for transmitting non-real time critical data exists for all users and switching units of the switchable data network, whereby the real-time critical is separated from the non-real-time critical communication. Since all subscribers and switching units are always synchronized to a common time base, the respective areas for transmitting data for all subscribers and switching units take place at the same time, i. Real-time critical communication takes place independently of time-critical communication and is therefore not influenced by it. Real-time critical communication is planned in advance. Feeding of the data telegrams at the originating transmitter and their forwarding by means of the participating coupling units is time-based. By buffering in the respective coupling units is achieved that occurring at any time, spontaneous, internet-capable, not real-time critical communication in the, provided for the non-real-time communication transmission range (14) of a transmission cycle (12) and also transmitted only there.
Claims (41)
- Method for transmitting data via a data network, in which real-time-critical and non-real-time-critical data are transmitted, the data network being set up between at least two users, especially a transmitter and a receiver, the data being transmitted in at least one transmission cycle (12) with adjustable period (17), each transmission cycle (12) being subdivided into at least one first section (13) for the transmission of real-time-critical data and at least one second section (14) for the transmission of non-real-time-critical data, characterized in that the data network is a switched Ethernet data network in the field of industrial systems, in which each user is allocated a switching unit which is provided for transmitting and/or receiving and/or forwarding the data to be transmitted, that all switching units of the switched data network exhibit a common synchronous time base due to mutual timing synchronization, and that in all switching units involved in each case, all times for forwarding the real-time-critical data telegrams and the respective associated links via which the real-time-critical data telegrams are forwarded are noted before the beginning of the respective performance of the data transmission for all real-time-critical data telegrams to be transmitted for real-time control.
- Method according to Claim 1, characterized in that all non-real-time-critical data which are intended to be transmitted during the section (13) of a transmission cycle (12) which is provided for the real-time-critical communication are temporarily stored by the respective switching unit and are transmitted during the section (14) of this or a subsequent transmission cycle which is intended for the non-real-time-critical communication.
- Method according to Claim 1 or 2, characterized in that all non-real-time-critical data which cannot be transmitted during the section (14) of a transmission cycle (12) intended for the transmission of the non-real-time-critical data are temporarily stored by the respective switching unit and transmitted during the section (14) of a later transmission cycle which is intended for the transmission of the non-real-time-critical data.
- Method according to one of the preceding claims, characterized in that the period of the section (14) for the transmission of non-real-time-critical data within a transmission cycle (12) is automatically established by the period of the section (13) for the transmission of real-time-critical data.
- Method according to one of the preceding claims, characterized in that the period of the section (13) for the transmission of real-time-critical data within a transmission cycle (12) is in each case determined by the data to be transmitted in a connection-oriented manner.
- Method according to one of the preceding claims, characterized in that the period (17) of a transmission cycle (12) is established at least once before the respective data transmission takes place.
- Method according to one of the preceding claims, characterized in that the period (17) of a transmission cycle (12) and/or the period of the section (13) for the transmission of real-time-critical data of a transmission cycle (12) can be changed.
- Method according to one of the preceding claims, characterized in that the period (17) of a transmission cycle (12) is between 1 microsecond and 10 seconds.
- Method according to one of the preceding claims, characterized in that the real-time communication can be newly planned at any time during active operation of an automation system.
- Method according to one of the preceding claims, characterized in that the period (17) of a transmission cycle (12) can be changed by newly planning the real-time communication.
- Method according to one of the preceding claims, characterized in that a part of the section (13) of the transmission cycle (12) intended for the transmission of the real-time-critical data is intended for the transmission of data for the organization of the data transmission (15).
- Method according to one of the preceding claims, characterized in that the data for the organization of the data transmission (15) are transmitted at the beginning of the section (13) for the transmission of real-time-critical data of the transmission cycle (12).
- Method according to one of the preceding claims, characterized in that the data for the organization of the data transmission (15) contain data for the timing synchronization of the users and switching units of the data network and/or data for recognizing the topology of the network.
- Method according to one of the preceding claims, characterized in that the transmitting and receiving time for all real-time-critical data telegrams to be transmitted are noted at the transmitter and/or receiver before the beginning of the respective performance of the data transmission.
- Method according to one of the preceding claims, characterized in that each real-time-critical data telegram arrives at the corresponding switching unit at the latest at the forwarding time or earlier.
- Method according to one of the preceding claims, characterized in that the real-time-critical data telegrams are transmitted or, respectively, forwarded immediately without time interval.
- Method according to one of the preceding claims, characterized in that links of a switched data network which must not be used for the non-real-time-critical communication are used in the real-time-critical communication.
- Method according to one of the preceding claims, characterized in that at least one user of a switched data network can perform a real-time-critical communication and/or a non-real-time-critical communication, especially an Internet communication, in parallel in the same switched data network, wherein the non-real-time-critical communication taking place does not influence the real-time-critical communication taking place in parallel.
- Method according to one of the preceding claims, characterized in that at least one arbitrary user, especially a user having the capability for open Internet-capable communication, with or without associated switching unit, can be added to a switched data network.
- System for transmitting data via a data network, comprising at least one data processing device which can be coupled to a switched data network and which transmits real-time-critical and non-real-time-critical data, the data network being set up between at least two users, especially a transmitter and a receiver, the system exhibiting at least one means for transmitting data in at least one transmission cycle (12) with adjustable period (17), each transmission cycle (12) being subdivided into at least one first section (13) for transmitting real-time-critical data and at least one second section (14) for transmitting non-real-time-critical data, characterized in that the data network is a switched Ethernet data network in the field of industrial systems, in which each user is allocated a switching unit which is provided for transmitting and/or receiving and/or forwarding the data to be transmitted, that the system exhibits at least one means which supplies all switching units of the switched data network with a common synchronous time base by means of mutual timing synchronization, and that the system exhibits at least one means which notes all times for the forwarding of the real-time-critical data telegrams and the respective associated links via which the real-time-critical data telegrams are forwarded for all real-time-critical data telegrams to be transmitted for real-time control in all switching units involved in each case, before the beginning of the respective performance of the data transmission.
- System according to Claim 20, characterized in that the system exhibits at least one means which ensures that all non-real-time-critical data which are to be transmitted during the section (13) of a transmission cycle (12) intended for the real-time-critical communication are temporarily stored by the respective switching unit and are transmitted during the section (14), intended for the non-real-time-critical communication, of this or a subsequent transmission cycle.
- System according to one of Claims 20 or 21, characterized in that the system exhibits at least one means which ensures that all non-real-time-critical data which cannot be transmitted during the section (14) of a transmission cycle (12) intended for the transmission of the non-real-time-critical data are temporarily stored by the respective switching unit and are transmitted during the section (14), intended for the transmission of the non-real-time-critical data, of a later transmission cycle.
- System according to one of Claims 20 to 22, characterized in that the system exhibits at least one means which automatically establishes the period of the section (14) for the transmission of non-real-time-critical data within a transmission cycle (12) by means of the period of the section (13) for transmitting real-time-critical data.
- System according to one of Claims 20 to 23, characterized in that the system exhibits at least one means which in each case determines the period of the section (13) for transmitting real-time-critical data within a transmission cycle (12) by means of the data to be transmitted in a connection-oriented manner.
- System according to one of Claims 20 to 24, characterized in that the system exhibits at least one means which establishes the period (17) of a transmission cycle (12) at least once before the respective performance of the data transmission.
- System according to one of Claims 20 to 25, characterized in that the system exhibits at least one means which changes the period (17) of a transmission cycle (12) and/or the period of the section (13) for the transmission of real-time-critical data of a transmission cycle (12).
- System according to one of Claims 20 to 26, characterized in that the system exhibits at least one means which newly plans the real-time communication at any time during active operation of an automation system.
- System according to one of Claims 20 to 27, characterized in that the system exhibits at least one means which changes the period (17) of a transmission cycle (12) by newly planning the real-time communication.
- System according to one of Claims 20 to 28, characterized in that the system exhibits at least one means which provides a part of the section (13) of the transmission cycle (12) provided for the transmission of the real-time-critical data for the transmission of data for the organization of the data transmission (15).
- System according to one of Claims 20 to 29, characterized in that the system exhibits at least one means which transmits the data for the organization of the data transmission (15) at the beginning of the section (13) for the transmission of the real-time-critical data of the transmission cycle (12).
- System according to one of Claims 20 to 30, characterized in that the system exhibits at least one means which notes the transmitting and receiving time at the transmitter and/or receiver for all real-time-critical data telegrams to be transmitted before the beginning of the respective performance of the data transmission.
- System according to one of Claims 20 to 31, characterized in that the system exhibits at least one means which ensures that each real-time-critical data telegram arrives at the corresponding switching unit at the latest at the forwarding time or earlier.
- The system according to one of Claims 20 to 32, characterized in that the system exhibits at least one means which transmits or forwards the real-time-critical data telegrams immediately without time interval.
- The system according to one of Claims 20 to 33, characterized in that the system exhibits at least one means which ensures that links of a switched data network which must not be used for the non-real-time-critical communication are used in the real-time-critical communication.
- The system according to one of Claims 20 to 34, characterized in that a switching unit is integrated in a user.
- The system according to one of Claims 20 to 35, characterized in that a switching unit has two separate accesses to the respective user, one access being intended for exchanging real-time-critical data and the other access being intended for exchanging non-real-time-critical data.
- The system according to one of Claims 20 to 36, characterized in that the system exhibits at least one means which ensures that at least one user of a switched data network can perform a real-time-critical communication and/or a non-real-time-critical communication, especially an Internet communication, in parallel in the same switched data network, wherein the non-real-time-critical communication taking place does not influence the real-time-critical communication taking place in parallel.
- The system according to one of Claims 20 to 37, characterized in that the system exhibits at least one means which ensures that at least one arbitrary user, especially a user with the capability for open Internet-capable communication, with or without associated switching unit, can be added to a switched data network.
- User for a system according to one of Claims 20 to 38 and/or a user with means to carry out the method according to one of Claims 1 to 19.
- User according to Claim 39, characterized in that the user is a user of an automation system.
- User according to one of Claims 39 or 40, characterized in that the user exhibits at least one means for transmitting real-time-critical and non-real-time-critical data, the data being transmitted in at least one transmission cycle (12) with adjustable period (17), each transmission cycle (12) being subdivided into at least one first section (13) for transmitting real-time-critical data for real-time control and at least one second section (14) for transmitting non-real-time-critical data.
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PCT/DE2001/004322 WO2002043336A1 (en) | 2000-11-24 | 2001-11-16 | System and method for the parallel transmission of real-time critical and non real-time critical data via switched data networks, especially ethernet |
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DE10058524A1 (en) | 2002-06-13 |
US8179923B2 (en) | 2012-05-15 |
JP2004515122A (en) | 2004-05-20 |
WO2002043336A9 (en) | 2003-12-18 |
US20020064157A1 (en) | 2002-05-30 |
ATE388559T1 (en) | 2008-03-15 |
US20090034524A1 (en) | 2009-02-05 |
CN1476702A (en) | 2004-02-18 |
DE50113709D1 (en) | 2008-04-17 |
ES2300386T3 (en) | 2008-06-16 |
CN100409641C (en) | 2008-08-06 |
EP1388238A1 (en) | 2004-02-11 |
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